US8521179B2 - Mobile unit's position measurement apparatus and mobile unit's position measurement method - Google Patents
Mobile unit's position measurement apparatus and mobile unit's position measurement method Download PDFInfo
- Publication number
- US8521179B2 US8521179B2 US13/130,163 US200913130163A US8521179B2 US 8521179 B2 US8521179 B2 US 8521179B2 US 200913130163 A US200913130163 A US 200913130163A US 8521179 B2 US8521179 B2 US 8521179B2
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- United States
- Prior art keywords
- estimated error
- mobile unit
- observation data
- error values
- position measurement
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Definitions
- the invention relates to a mobile unit's position measurement apparatus and a mobile unit's position measurement method for measuring the position of a mobile unit on the basis of signals from satellites.
- Apparatuses that measure the position of a mobile unit on the basis of signals from satellites have been widely used.
- a problem of these apparatuses is the so-called multipath phenomenon. This is a phenomenon in which when a receiver receives a signal from a satellite that is reflected from a building or the like, the acquired distance (pseudo-distance) between the receiver and the satellite deviates from the actual distance therebetween, so that the present position of the apparatus is falsely recognized.
- an invention which relates to a method in which the positioning computation is performed through the use of only signals from satellites with respect to which a difference between an observed amount of Doppler shift and an estimated amount of Doppler shift that is calculated by the so-called Inertial Navigation System (INS) on the basis of an output of a gyro-sensor or a vehicle speed sensor is smaller than a threshold value (see, for example, Japanese Patent Application Publication No. 2001.264409 (JP-A-2001-264409)).
- INS Inertial Navigation System
- the invention provides a mobile unit's position measurement apparatus that performs the position measurement (positioning) of a mobile unit with increased continuity and precision.
- a mobile unit's position measurement apparatus includes: reception means for receiving signals from a plurality of satellites; observation data selection means for selecting some or all of a plurality of pieces of observation data that are obtained by observing the signals received by the reception means; and positioning computation means for performing a positioning computation based on the pieces of observation data selected by the observation data selection means, wherein the observation data selection means calculates a plurality of estimated error values that correspond respectively to the plurality of pieces of observation data obtained by observing the signals received by the reception means, and extracts, from the plurality of estimated error values calculated, estimated error value groups which respectively include at least a predetermined number of estimated error values and in which a difference between a maximum value and a minimum value of the predetermined number of estimated error values included is less than a predetermined value, and selects pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted.
- the first aspect of the invention it is possible to perform the positioning or position measurement of a mobile unit with increased continuity and precision.
- INS inertial navigation system
- a mobile unit's position measurement method includes: calculating a plurality of estimated error values that correspond respectively to a plurality of pieces of observation data that are obtained by observing signals transmitted from a plurality of satellites; extracting, from the plurality of estimated error values calculated, estimated error value groups which respectively include at least a predetermined number of estimated error values and in which a difference between a maximum value and a minimum value of the predetermined number of estimated error values included is less than a predetermined value; selecting pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted; and performing a positioning computation based on at least one or all of the pieces of observation data selected.
- the second aspect of the invention it is possible to perform the positioning or position measurement of a mobile unit with increased continuity and precision.
- a mobile unit's position measurement apparatus includes: a reception portion that receives signals from a plurality of satellites; an observation data selection portion that calculates a plurality of estimated error values that correspond respectively to the plurality of pieces of observation data obtained by observing the signals received by the reception means, and that extracts, from the plurality of estimated error values calculated, estimated error value groups which respectively include at least a predetermined number, of estimated error values and in which a difference between a maximum value and a minimum value of the predetermined number of estimated error values included is less than a predetermined value, and that selects pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted; and a positioning computation portion that performs a positioning computation based on the pieces of observation data selected by the observation data selection portion.
- FIG. 1 shows an example of a system configuration of a mobile unit's position measurement apparatus 1 ;
- FIG. 2 is a flowchart showing a flow of a observation data selection process performed by an observation data selection portion 38 in accordance with a first embodiment of the invention
- FIG. 3 is a flowchart showing a flow of an observation data selection process performed by the observation data selection portion 38 in accordance with a second embodiment of the invention.
- FIG. 4 is a flowchart showing a flow of an observation data selection process performed by the observation data selection portion 38 in accordance with a third embodiment of the invention.
- the mobile unit's position measurement apparatus 1 is applied to the so-called Global Navigation Satellite System (GNSS).
- GNSS Global Navigation Satellite System
- the GNSS is a positioning system in which, using signals from satellites, a positioning apparatus measures the position of a mobile unit, and the GNSS includes positioning systems that use satellites, such as the Global Positioning System (GPS), the Galileo, the Glonass, etc.
- GPS Global Positioning System
- Galileo the Galileo
- Glonass etc.
- the GPS is composed of GPS satellites that orbit the earth, and positioning apparatuses such as a mobile unit's position measurement apparatus 1 of this embodiment.
- the mobile unit's position measurement apparatus 1 can be mounted in, for example, a motor vehicle, a motor cycle, a railroad train, a ship, an aircraft, a forklift, a robot, a cellular phone that is mobile carried by a human, etc. The following description will be made on the assumption that the mobile unit's position measurement apparatus 1 is mounted in a motor vehicle.
- the GPS satellites continuously transmit navigation messages (satellite signals) toward the earth.
- a navigation message includes satellite orbit information regarding a corresponding GPS satellite (ephemeris and almanac), a clock correction value, and an ionosphere correction value.
- Navigation messages are continuously transmitted toward the earth, diffused by a coarse acquisition code (C/A code) and superimposed on an L1 wave (whose frequency is 1575.42 MHz).
- the L1 wave is a composite wave that is made up of a C/A code-modulated sine wave and a precision code (P code)-modulated cosine wave, and that is orthogonally modulated.
- the C/A code and the P code are pseudo noise codes each made up of a code string in which ⁇ 1 and 1 are arranged in irregular cycles.
- GPS satellites Today, there are 24 GPS satellites circling the earth at an altitude of about 20,000 kin, and four GPS satellites are equidistantly disposed in each of six orbital planes of the earth that are tilted from each other by an angle of 55 degrees. Therefore, at any location on the earth that has an open sky, at least five GPS satellites can always be observed.
- FIG. 1 is an example of a system configuration of mobile unit's position measurement apparatus 1 .
- the mobile unit's position measurement apparatus 1 has as main components a GPS antenna 10 , a position/velocity estimation-purpose device 20 , and an information processing device 30 .
- the position/velocity estimation-purpose device 20 is a device for estimating the position and velocity of a mobile unit by the inertial navigation system (INS), a technique of map matching, or the like.
- the position/velocity estimation-purpose device 20 includes, for example, a O-sensor, an angular velocity sensor, a vehicle speed sensor, a geomagnetic sensor, a map database, a microcomputer that estimates the position and velocity of a mobile unit using these appliances, etc.
- various techniques are known to public. Therefore, description of the estimation is omitted herein.
- the information processing device 30 is, for example, a microcomputer that has a central processing unit (CPU) as a central portion, a read-only memory (ROM), a random access memory (RAM), etc., that are interconnected by a bus.
- the information processing device 30 has a storage device, such as a hard disc drive (HDD), a digital versatile disk (DVD) drive, a compact disc-recordable (CD-R) drive, an electronically erasable and programmable read-only memory (EEPROM), etc, and also has an input/output port, a timer, a counter, etc.
- the ROM stores programs that the CPU executes, and also stores data.
- the information processing device 30 has various major functional blocks that function as the CPU executes programs stored in the ROM.
- the major functional blocks of the device 30 include a pseudo-distance calculation portion 32 , a Doppler frequency calculation portion 34 , an accumulated Doppler range (ADR) calculation portion 36 , an observation data selection portion 38 , and a positioning computation portion 40 .
- the pseudo-distance ⁇ includes a time error (clock bias), an error due to a change in electromagnetic wave propagation velocity.
- the method of the C/A code synchronization varies to great degrees, and any appropriate method of the C/A code synchronization may be adopted.
- the method of the C/A code synchronization may be a method that tracks the code phase that peaks the value of correlation of the replica C/A code with the received C/A code, through the use of a delay-locked loop (DLL).
- a numerical value of 300 comes from a fact that the duration of one bit of the C/A code 1 is 1 ⁇ s, and the length corresponding to one bit thereof is about 300 m (1 ⁇ s ⁇ speed of light).
- a signal that represents the pseudo-distance ⁇ calculated as described above is input to the observation data selection portion 38 .
- the calculated pseudo-distance ⁇ may also be subjected to a carrier smoothing by a filter (not shown) through the use of an amount of change ⁇ f in the Doppler frequency described below, before being input to the positioning computation portion 40 .
- This function may be realized by a phase-locked loop (PLL) technique that computes a carrier correlation value through the use of the replica carrier, and thereby tracks the received carrier.
- PLL phase-locked loop
- ADR an ADR calculated by the ADR calculation portion 36 is output to the observation data selection portion 38 .
- the observation data selection portion 38 determines the reliability of observation data based on a signal from each satellite, using a part or the whole of the observation data (the pseudo-distance ⁇ , the amount of change ⁇ f in the Doppler frequency, and the ADR). According to results of the determination, the observation data selection portion 38 selects pieces of observation data. In the description below, the observation data selection process is performed through the use of the pseudo-distance ⁇ .
- FIG. 2 is a flowchart showing a flow of an observation data selection process performed by the observation data selection portion 38 in accordance with the first embodiment.
- the observation data selection portion 38 calculates estimated error values of ⁇ 1 , ⁇ 2 , . . . ⁇ N of the observation data regarding the individual satellites, using the pseudo-distance ⁇ calculated by the pseudo-distance calculation portion 32 , and the position estimated by the position/velocity estimation-purpose device 20 (S 100 ).
- the estimated error value can be found by estimating an amount of change in the pseudo-distance ⁇ , from a displacement vector from the position of the mobile unit calculated previously in the execution of a repetition process to the presently calculated position of the mobile unit, and a line-of-sight vector connecting a satellite and the mobile unit, and by using a difference between the estimated amount of change in the pseudo-distance ⁇ and the amount of change in the pseudo-distance ⁇ calculated by the pseudo-distance calculation portion 32 .
- the estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N are calculated from the amount of change ⁇ f in the Doppler frequency calculated by the Doppler frequency calculation portion 34 , and the velocity estimated by the position/velocity estimation-purpose device 20 .
- the estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N are calculated from the ADR calculated by the ADR calculation portion, and the position estimated by the position/velocity estimation-purpose device 20 .
- groups each of which includes at least a predetermined number of values of these estimated error values ⁇ 1 , ⁇ 2 , . . . . ⁇ N of observation data are generated (S102).
- the group of pieces of observation data whose errors from the position or the like estimated by the position/velocity estimation-purpose device 20 most resemble each other is selected. Therefore, the piece or pieces of observation data whose errors are made larger by a problem on the side of the satellite signals, such as the multipath or the like, are excluded. As a result, pieces of observation data from satellite signals without a problem, such as the multipath or the like, are selected, so that the positioning of the mobile unit can be performed with good precision.
- the position measurement of a mobile unit can be continuously performed even in the case where there are relatively large, errors in the position or velocity of the mobile unit calculated from outputs of the gyro-sensor or the vehicle speed sensor.
- the foregoing selection technique is a simple and easy technique whose processing load is small, the foregoing technique reduces the processing time and the electric power consumption of the information processing device 30 .
- the first embodiment when employed as a vehicle-mounted positioning apparatus that needs to perform continuous processing, achieves great effects.
- the positioning computation portion 40 calculates the position and velocity of a mobile unit, using the pieces of observation data selected by the observation data selection portion 38 . Concretely, for example, the positioning computation portion 40 calculates the position of a mobile unit by performing a carrier smoothing process on the pseudo-distance ⁇ through the use of the ADR, and calculates the velocity (velocity vector) of the mobile unit by using the amount of change ⁇ f in the Doppler frequency. With regard to this positioning computation, various techniques are known to public, and therefore detailed description thereof is omitted herein.
- the mobile unit's position measurement apparatus 2 is different from the apparatus of the first embodiment only in the content of the observation data selection process performed by the observation data selection portion 38 , and therefore will be described only with regard to differences from the first embodiment.
- the observation data selection portion 38 determines reliability of observation data based on a signal from each satellite, using amount of change M in the Doppler frequency among pieces of observation data. According to results of the determination, the observation data selection portion 38 selects pieces of observation data.
- FIG. 3 is a flowchart showing a flow of an observation data selection process performed by the observation data selection portion 38 in accordance with the second embodiment.
- the observation data selection portion 38 calculates estimated error values of ⁇ 1 , ⁇ 2 , . . . ⁇ N of the observation data regarding the individual satellites, using the amount of change ⁇ f in the Doppler frequency calculated by the Doppler frequency calculation portion 34 , and the position estimated by the position/velocity estimation-purpose device 20 (S 200 ).
- groups each of which includes at least a predetermined number of values of these estimated error values ⁇ 1 , ⁇ 2 , . . . . ⁇ N of observation data are generated (S202).
- the observation data selection portion 38 estimates an error in the velocity (S 206 ).
- the error in velocity is estimated, for example, using an observation equation of a least-squares method.
- the following expression is an example of the velocity error estimation that uses an observation equation of a least-squares method.
- Ev (H T H) ⁇ 1 H T e
- Ev represents the error vector of velocity
- H [ g 1 1 ⁇ ⁇ g M 1 ] represents a design matrix
- the group that has the smallest velocity error among the groups is selected. Then, satellites that correspond to the estimated error values that are included in the selected group are selected. After that, pieces of observation data based on signals from the selected satellites are selected, and are output to the positioning computation portion 40 (S 208 ).
- the group of pieces of observation data whose errors from the velocity estimated by the position/velocity estimation-purpose device 20 most resemble each other is selected. Therefore, the piece or pieces of observation data whose errors are made larger by a problem on the side of the satellite signals, such as the multipath or the like, are excluded. As a result, pieces of observation data from satellite signals without problems, such as the multipath or the like, are selected, so that the positioning of the mobile unit can be performed with good precision.
- the position measurement of a mobile unit can be continuously performed even in the case where there are relatively large errors in the position or velocity of the mobile unit calculated from outputs of the gyro-sensor or the vehicle speed sensor.
- the foregoing mobile unit's position measurement apparatus 2 of, the second embodiment it is possible to perform the positioning of a mobile unit with increased continuity and precision.
- the mobile unit's position measurement apparatus 3 is different from the apparatuses of the first and second embodiments only in the content of the observation data selection process performed by the observation data selection portion 38 , and therefore will be described only with regard to differences from the first and second embodiments.
- the observation data selection portion 38 in accordance with the third embodiment performs test of differences of the individual estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N from a mean value. According to results of the test, the observation data selection portion 38 selects pieces of observation data. In the following description, the observation data selection portion 38 performs the observation data selection process using the pseudo-distance ⁇ .
- FIG. 4 is a flowchart showing a flow of an observation data selection process performed by the observation data selection portion 38 in accordance with the third embodiment.
- the observation data selection portion 38 calculates estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N of the pieces of observation data regarding the individual satellites, using the pseudo-distance ⁇ calculated by the pseudo-distance calculation portion 32 , and the position estimated by the position/velocity estimation-purpose device 20 (S 300 ).
- the estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N are calculated from the amount of change ⁇ f in the Doppler frequency calculated by the Doppler frequency calculation portion 34 , and the velocity estimated by the position/velocity estimation-purpose device 20 .
- the estimated error values ⁇ 1 , ⁇ 2 , . . . ⁇ N are calculated from the ADR calculated by the ADR calculation portion, and the position estimated by the position/velocity estimation-purpose device 20 .
- Test of a difference between an estimated error value ⁇ i and a mean value of the estimated error values other than ⁇ i is performed (S 302 ).
- the group of pieces of observation data whose errors from the position or the like estimated by the position/velocity estimation-purpose device 20 most resemble each other is selected. Therefore, the piece or pieces of observation data whose errors are made larger by a problem on the side of the satellite signals, such as the multipath or the like, are excluded. As a result, pieces of observation data from satellite signals without a problem, such as the multipath or the like, are selected, so that the positioning of the mobile unit can be performed with good precision.
- the position measurement of a mobile unit can be continuously performed even in the case where there are relatively large errors in the position or velocity of the mobile unit calculated from outputs of the gyro-sensor or the vehicle speed sensor.
- test of differences from mean values in the third embodiment it is also possible to perform a Smirnoff-Grubbs test, a Q test, etc. In any case, the test is repeatedly performed until there is no abnormal value, and the remaining pieces of data are regarded as normal values.
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Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2008296029A JP4655139B2 (ja) | 2008-11-19 | 2008-11-19 | 移動体位置測位装置 |
JP2008296029 | 2008-11-19 | ||
JP2008-296029 | 2008-11-19 | ||
PCT/IB2009/007500 WO2010058266A2 (en) | 2008-11-19 | 2009-11-19 | Mobile unit's position measurement apparatus and mobile unit's position measurement method |
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US20110230207A1 US20110230207A1 (en) | 2011-09-22 |
US8521179B2 true US8521179B2 (en) | 2013-08-27 |
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US13/130,163 Expired - Fee Related US8521179B2 (en) | 2008-11-19 | 2009-11-19 | Mobile unit's position measurement apparatus and mobile unit's position measurement method |
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US (1) | US8521179B2 (zh) |
EP (1) | EP2356482B1 (zh) |
JP (1) | JP4655139B2 (zh) |
CN (1) | CN102216802B (zh) |
WO (1) | WO2010058266A2 (zh) |
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US9056754B2 (en) | 2011-09-07 | 2015-06-16 | Crown Equipment Limited | Method and apparatus for using pre-positioned objects to localize an industrial vehicle |
US9903956B2 (en) | 2011-09-12 | 2018-02-27 | Continental Teves Ag & Co. Ohg | Method for selecting a satellite |
KR101448266B1 (ko) * | 2013-05-16 | 2014-10-14 | 주식회사 에스위너스 | 물류 추적 장비의 gps 오차 보정 장치 및 방법 |
KR20170000282A (ko) * | 2015-06-23 | 2017-01-02 | 한국전자통신연구원 | 센서를 이용한 로봇 위치 정확도 정보 제공장치 및 그 방법 |
CN107765270B (zh) * | 2016-08-17 | 2021-05-07 | 中国航空工业集团公司西安飞行自动控制研究所 | 一种基于卡尔曼滤波的卫星导航接收机跟踪环 |
DE102016222272B4 (de) * | 2016-11-14 | 2018-05-30 | Volkswagen Aktiengesellschaft | Schätzen einer Eigenposition |
JPWO2019171633A1 (ja) | 2018-03-09 | 2021-01-14 | Necソリューションイノベータ株式会社 | 移動体測位システム、方法およびプログラム |
CN111031470A (zh) * | 2019-11-14 | 2020-04-17 | 天津大学 | 一种基于位置权重的定位频点选择方法 |
CN111006650B (zh) * | 2019-11-22 | 2021-10-15 | 西安翔迅科技有限责任公司 | 地面观察哨侦察预警系统 |
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- 2009-11-19 WO PCT/IB2009/007500 patent/WO2010058266A2/en active Application Filing
- 2009-11-19 EP EP09799135.0A patent/EP2356482B1/en not_active Not-in-force
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Also Published As
Publication number | Publication date |
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CN102216802B (zh) | 2014-02-19 |
JP2010122069A (ja) | 2010-06-03 |
US20110230207A1 (en) | 2011-09-22 |
EP2356482B1 (en) | 2015-01-28 |
JP4655139B2 (ja) | 2011-03-23 |
WO2010058266A2 (en) | 2010-05-27 |
WO2010058266A3 (en) | 2010-07-22 |
EP2356482A2 (en) | 2011-08-17 |
CN102216802A (zh) | 2011-10-12 |
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